Warning #1: Compass calibration and reducing interference is far more important than with 2.9.1b
Warning #2: GPS glitches can cause sudden and aggressive position changes while in loiter mode. You may wish to reduce the Loiter PID P to 0.5 (from 1.0) to reduce aggressiveness (see image below of where this gain can be found in mission planner).
Warning #3: optical flow is not supported but will be back in the next release (AC-3.0.2 or AC-3.1.0).
Warning #4: loiter turns does not maintain altitude. This bug will be fixed in AC-3.0.2.
Warning #5: This release has only been lightly tested on Traditional Helicopters.
Improvements over 2.9.1b include:
WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN, WPNAV_ACCEL allows configuring speeds and acceleration during missions
How to upgrade:
1. Make sure you are using Mission Planner 1.2.59 or newer (get it here)
2. Click on the MissionPlanner's Hardware, Install Firmware screen. The version numbers should appear as "ArduCopter-3.0.1", then click the appropriate frame icon and it should upgrade as per usual.
3. Reduce the Loiter and Alt Hold PIDs if you have modified them from the defaults. The modified PID values for the 3DR frame can be seen in the image below.
Note: Nav parameters have been combined with Loiter so do not be concerned if you can't find them.
5. Try out the new version in stabilize mode first, then alt-hold, then loiter and finally RTL and Auto.
Numerous How-To videos are available:
Special Thanks to Marco, DaveC and the large number of testers on the pre-release thread who put their copters at risk during the extended testing period. Some of their videos can be found here, here, here, here, here and here. Thanks also to MichaelO for the MP changes required for this release.
All feedback welcome. Please put your questions, comments (good and bad!) below.
Sorry it was actually in 3.1-rc2 that it was still working. I never got around to trying rc3 but I tried them both now and both rc3 and rc4 wont compile, so somewhere between rc2 and rc3 something has changed which is affecting it... Any ideas perhaps?
These instructions are very clear Leonard. I probably missed somewhere in the thread. What is the main purpose of Autotune? Will Autotune adjust the PID parameters better than we manually do it?
Will the code improvements in RC4 mean it should be safe to try this on an Octa?
The idea of autotune is to adjust your roll and pitch pids to be as sharp as possible. The rate pid's can then be left the way they are and the Stab P term reduced to what ever feels nice.
Yeh, Octa's shouldn't have any problems after the performance improvements Tridge and Randy made. We are down to something like 85% processor usage during loiter now!
Gosh squeezing the last couple of electrons out of that board now ;-)
Is there a link were we can find the release notes without going back trough the many pages on this topic to find al release notes from previous rc versions?
(Just like the mission plannner release notes document)
Can you measure the motor locations and also measure as accurately as possible where your cg is. Also, how did you choose the location of your cg?
So in this case, this is not an "Optional" feature. It should be used...